// Stepper motor testing Phase 1


#include <AccelStepper.h>
 
// Define pin connections & motor's steps per revolution
const int dirPin = 5;     // Direction pin connected to A4988 DIR pin
const int stepPin = 2;    // Step pin connected to A4988 STEP pin
const int stepsPerRevolution = 200; // Modify this value based on your stepper motor (200 steps per revolution for a NEMA 17)

// Create an instance of AccelStepper
AccelStepper stepper(AccelStepper::DRIVER, stepPin, dirPin);

void setup() {
  // Set up the stepper motor
  stepper.setMaxSpeed(1000); // Set maximum speed (steps per second)
  stepper.setAcceleration(500); // Set acceleration (steps per second^2)
}

void loop() {
  // Rotate clockwise
  stepper.moveTo(stepsPerRevolution);
  while (stepper.distanceToGo() != 0) {
    stepper.run();
  }

  delay(1000); // Wait for 1 second

  // Rotate counter-clockwise
  stepper.moveTo(-stepsPerRevolution);
  while (stepper.distanceToGo() != 0) {
    stepper.run();
  }

  delay(1000); // Wait for 1 second
}